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Path planning is a problem of designing the path the vehicle is supposed to follow in such a way that a certain objective is optimized. In our case, the objective is to maximize collected amount of information from Desired Regions (DR), meanwhile flying over the Forbidden Regions is avoided. In this study the path planning problem for multiple unmanned air vehicles (UAV) is studied. Path of each UAV is designed by using our algorithm for single UAV. The part of our algorithm for determining the visiting sequence of DRs has been altered to find the visiting sequence of DRs for each UAV. The visiting sequence of DRs for each UAV has been determined by solving fixed destination multiple-Traveling Salesman Problem (mTSP). After finding the visiting sequence for each UAV, the problem will be considered as multiple single-UAV-Path-Planning-Problem. The Genetic Algorithm has been used to solve of mTSP. The algorithm has been tested using different scenarios and obtained results are presented.
Date of Conference: 18-20 April 2012